[7237] | 1 | /* -------------------------------------------------------------------------
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| 2 | * BKG NTRIP Client
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| 3 | * -------------------------------------------------------------------------
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| 4 | *
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| 5 | * Class: t_pppFilter
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| 6 | *
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| 7 | * Purpose: Filter Adjustment
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 29-Jul-2014
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| 12 | *
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[7267] | 13 | * Changes:
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[7237] | 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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| 17 | #include <iostream>
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| 18 | #include <iomanip>
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| 19 | #include <cmath>
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| 20 | #include <newmat.h>
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| 21 | #include <newmatio.h>
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| 22 | #include <newmatap.h>
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| 23 |
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| 24 | #include "pppFilter.h"
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| 25 | #include "bncutils.h"
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| 26 | #include "pppParlist.h"
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| 27 | #include "pppObsPool.h"
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| 28 | #include "pppStation.h"
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[10034] | 29 | #include "pppClient.h"
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[7237] | 30 |
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| 31 | using namespace BNC_PPP;
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| 32 | using namespace std;
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| 33 |
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| 34 | // Constructor
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| 35 | ////////////////////////////////////////////////////////////////////////////
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[10034] | 36 | t_pppFilter::t_pppFilter() {
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| 37 | _parlist = 0;
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[7237] | 38 | }
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| 39 |
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| 40 | // Destructor
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| 41 | ////////////////////////////////////////////////////////////////////////////
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| 42 | t_pppFilter::~t_pppFilter() {
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[10034] | 43 | delete _parlist;
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[7237] | 44 | }
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| 45 |
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| 46 | // Process Single Epoch
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| 47 | ////////////////////////////////////////////////////////////////////////////
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[10034] | 48 | t_irc t_pppFilter::processEpoch(t_pppObsPool* obsPool) {
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| 49 |
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[9642] | 50 | _numSat = 0;
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[7302] | 51 | const double maxSolGap = 60.0;
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[10028] | 52 | bool setNeuNoiseToZero = false;
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[7237] | 53 |
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[10034] | 54 | if (!_parlist) {
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| 55 | _parlist = new t_pppParlist();
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[10028] | 56 | }
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| 57 |
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[7237] | 58 | // Vector of all Observations
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| 59 | // --------------------------
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[10034] | 60 | t_pppObsPool::t_epoch *epoch = obsPool->lastEpoch();
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[7237] | 61 | if (!epoch) {
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| 62 | return failure;
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| 63 | }
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[9642] | 64 | vector<t_pppSatObs*> &allObs = epoch->obsVector();
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[7237] | 65 |
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| 66 | // Time of the Epoch
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| 67 | // -----------------
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| 68 | _epoTime = epoch->epoTime();
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| 69 |
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[10015] | 70 | if (!_firstEpoTime.valid() ||
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| 71 | !_lastEpoTimeOK.valid()||
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| 72 | (maxSolGap > 0.0 && _epoTime - _lastEpoTimeOK > maxSolGap)) {
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[7237] | 73 | _firstEpoTime = _epoTime;
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| 74 | }
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| 75 |
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[7267] | 76 | string epoTimeStr = string(_epoTime);
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| 77 |
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[7237] | 78 | // Set Parameters
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[10034] | 79 | // --------------
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| 80 | if (_parlist->set(_epoTime, allObs) != success) {
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[9419] | 81 | return failure;
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| 82 | }
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[10028] | 83 |
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[7237] | 84 | // Status Vector, Variance-Covariance Matrix
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| 85 | // -----------------------------------------
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[10256] | 86 | ColumnVector xFltOld = _xFlt;
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| 87 | SymmetricMatrix QFltOld = _QFlt;
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| 88 | setStateVectorAndVarCovMatrix(xFltOld, QFltOld, setNeuNoiseToZero);
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[8956] | 89 |
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[7237] | 90 | // Process Satellite Systems separately
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| 91 | // ------------------------------------
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[10384] | 92 | for (unsigned iSys = 0; iSys < OPT->systems().size(); iSys++) {
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| 93 | char sys = OPT->systems()[iSys];
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| 94 | int num = 0;
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[7237] | 95 | vector<t_pppSatObs*> obsVector;
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| 96 | for (unsigned jj = 0; jj < allObs.size(); jj++) {
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[9419] | 97 | if (allObs[jj]->prn().system() == sys) {
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[7237] | 98 | obsVector.push_back(allObs[jj]);
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[10034] | 99 | num++;
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[7237] | 100 | }
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| 101 | }
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[10386] | 102 | LOG << epoTimeStr << " SATNUM " << sys << ' ' << right << setw(2) << num << endl;
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[10034] | 103 | if (processSystem(OPT->LCs(sys), obsVector, epoch->pseudoObsIono()) != success) {
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[10220] | 104 | LOG << "t_pppFilter::processSystem() != success: " << sys << endl;
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[7237] | 105 | return failure;
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| 106 | }
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| 107 | }
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[8912] | 108 |
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| 109 | // close epoch processing
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| 110 | // ----------------------
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[10034] | 111 | cmpDOP(allObs);
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| 112 | _parlist->printResult(_epoTime, _QFlt, _xFlt);
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[9642] | 113 | _lastEpoTimeOK = _epoTime; // remember time of last successful epoch processing
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[7237] | 114 | return success;
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| 115 | }
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| 116 |
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| 117 | // Process Selected LCs
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| 118 | ////////////////////////////////////////////////////////////////////////////
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[9642] | 119 | t_irc t_pppFilter::processSystem(const vector<t_lc::type> &LCs,
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[10034] | 120 | const vector<t_pppSatObs*> &obsVector,
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| 121 | bool pseudoObsIonoAvailable) {
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[7237] | 122 | LOG.setf(ios::fixed);
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| 123 |
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| 124 | // Detect Cycle Slips
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| 125 | // ------------------
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[10034] | 126 | if (detectCycleSlips(LCs, obsVector) != success) {
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[7237] | 127 | return failure;
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| 128 | }
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| 129 |
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[10034] | 130 | ColumnVector xSav = _xFlt;
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[9642] | 131 | SymmetricMatrix QSav = _QFlt;
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[10034] | 132 | string epoTimeStr = string(_epoTime);
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| 133 | const vector<t_pppParam*> ¶ms = _parlist->params();
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| 134 | unsigned nPar = _parlist->nPar();
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[8965] | 135 |
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[9642] | 136 | unsigned usedLCs = LCs.size();
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[8965] | 137 | if (OPT->_pseudoObsIono && !pseudoObsIonoAvailable) {
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[9642] | 138 | usedLCs -= 1; // GIM not used
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[8961] | 139 | }
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| 140 | // max Obs
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[9538] | 141 | unsigned maxObs = obsVector.size() * usedLCs;
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| 142 |
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[7237] | 143 | // Outlier Detection Loop
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| 144 | // ----------------------
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| 145 | for (unsigned iOutlier = 0; iOutlier < maxObs; iOutlier++) {
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| 146 |
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| 147 | if (iOutlier > 0) {
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| 148 | _xFlt = xSav;
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| 149 | _QFlt = QSav;
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| 150 | }
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| 151 |
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| 152 | // First-Design Matrix, Terms Observed-Computed, Weight Matrix
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| 153 | // -----------------------------------------------------------
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[9642] | 154 | Matrix AA(maxObs, nPar);
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[10034] | 155 | ColumnVector ll(maxObs); ll = 0.0;
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| 156 | DiagonalMatrix PP(maxObs); PP = 0.0;
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[8912] | 157 |
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[7237] | 158 | int iObs = -1;
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| 159 | vector<t_pppSatObs*> usedObs;
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[9642] | 160 | vector<t_lc::type> usedTypes;
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[9386] | 161 |
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| 162 | // Real Observations
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| 163 | // =================
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[10184] | 164 | int nSat = 0;
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[7237] | 165 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9642] | 166 | t_pppSatObs *obs = obsVector[ii];
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[10034] | 167 | if (iOutlier == 0) {
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[9419] | 168 | obs->resetOutlier();
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| 169 | }
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[7237] | 170 | if (!obs->outlier()) {
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[9583] | 171 | nSat++;
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[8905] | 172 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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[7237] | 173 | const t_lc::type tLC = LCs[jj];
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[9642] | 174 | if (tLC == t_lc::GIM) {
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| 175 | continue;
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| 176 | }
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[7237] | 177 | ++iObs;
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| 178 | usedObs.push_back(obs);
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| 179 | usedTypes.push_back(tLC);
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[9524] | 180 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 181 | const t_pppParam *par = params[iPar];
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[10034] | 182 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC);
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[7237] | 183 | }
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[10384] | 184 |
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| 185 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs + 1));
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[7237] | 186 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 187 | }
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| 188 | }
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| 189 | }
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| 190 |
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[9556] | 191 | // Check number of observations
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| 192 | // ----------------------------
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[10257] | 193 | if (!nSat) {
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[9701] | 194 | return failure;
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[9699] | 195 | }
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[9625] | 196 |
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[9386] | 197 | // Pseudo Obs Iono
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| 198 | // ================
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| 199 | if (OPT->_pseudoObsIono && pseudoObsIonoAvailable) {
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| 200 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9642] | 201 | t_pppSatObs *obs = obsVector[ii];
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[9386] | 202 | if (!obs->outlier()) {
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| 203 | for (unsigned jj = 0; jj < usedLCs; jj++) {
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| 204 | const t_lc::type tLC = LCs[jj];
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[10034] | 205 | if (tLC == t_lc::GIM) {
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[9386] | 206 | ++iObs;
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[9642] | 207 | } else {
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| 208 | continue;
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| 209 | }
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[9386] | 210 | usedObs.push_back(obs);
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| 211 | usedTypes.push_back(tLC);
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[9524] | 212 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 213 | const t_pppParam *par = params[iPar];
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[10034] | 214 | AA[iObs][iPar] = par->partial(_epoTime, obs, tLC);
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[9386] | 215 | }
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[10384] | 216 | ll[iObs] = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA.Row(iObs + 1));
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[9386] | 217 | PP[iObs] = 1.0 / (obs->sigma(tLC) * obs->sigma(tLC));
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| 218 | }
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| 219 | }
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[8956] | 220 | }
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[8915] | 221 | }
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| 222 |
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[9556] | 223 | // Truncate matrices
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| 224 | // -----------------
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[9642] | 225 | AA = AA.Rows(1, iObs + 1);
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| 226 | ll = ll.Rows(1, iObs + 1);
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| 227 | PP = PP.SymSubMatrix(1, iObs + 1);
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[7237] | 228 |
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| 229 | // Kalman update step
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| 230 | // ------------------
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| 231 | kalman(AA, ll, PP, _QFlt, _xFlt);
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| 232 |
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| 233 | // Check Residuals
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| 234 | // ---------------
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| 235 | ColumnVector vv = AA * _xFlt - ll;
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[9642] | 236 | double maxOutlier = 0.0;
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| 237 | int maxOutlierIndex = -1;
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| 238 | t_lc::type maxOutlierLC = t_lc::dummy;
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[7237] | 239 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 240 | const t_lc::type tLC = usedTypes[ii];
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| 241 | double res = fabs(vv[ii]);
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| 242 | if (res > usedObs[ii]->maxRes(tLC)) {
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| 243 | if (res > fabs(maxOutlier)) {
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[9642] | 244 | maxOutlier = vv[ii];
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[7237] | 245 | maxOutlierIndex = ii;
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[9642] | 246 | maxOutlierLC = tLC;
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[7237] | 247 | }
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| 248 | }
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| 249 | }
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| 250 |
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| 251 | // Mark outlier or break outlier detection loop
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| 252 | // --------------------------------------------
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| 253 | if (maxOutlierIndex > -1) {
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[9642] | 254 | t_pppSatObs *obs = usedObs[maxOutlierIndex];
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| 255 | t_pppParam *par = 0;
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[10034] | 256 | LOG << epoTimeStr << " Outlier " << t_lc::toString(maxOutlierLC) << ' '
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| 257 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4)
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| 258 | << maxOutlier << endl;
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[9524] | 259 | for (unsigned iPar = 0; iPar < nPar; iPar++) {
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[9642] | 260 | t_pppParam *hlp = params[iPar];
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[10008] | 261 | if (hlp->type() == t_pppParam::amb &&
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[10034] | 262 | hlp->prn() == obs->prn() &&
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| 263 | hlp->tLC() == usedTypes[maxOutlierIndex]) {
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[7237] | 264 | par = hlp;
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| 265 | }
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| 266 | }
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[10034] | 267 | if (par) {
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[10319] | 268 | resetAmb(obs->prn(), obsVector, maxOutlierLC, &QSav, &xSav);
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[10021] | 269 | }
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[10034] | 270 | else {
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| 271 | obs->setOutlier();
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[7237] | 272 | }
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| 273 | }
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| 274 | // Print Residuals
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| 275 | // ---------------
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| 276 | else {
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[8905] | 277 | for (unsigned jj = 0; jj < LCs.size(); jj++) {
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| 278 | for (unsigned ii = 0; ii < usedObs.size(); ii++) {
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| 279 | const t_lc::type tLC = usedTypes[ii];
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[9642] | 280 | t_pppSatObs *obs = usedObs[ii];
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[8905] | 281 | if (tLC == LCs[jj]) {
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| 282 | obs->setRes(tLC, vv[ii]);
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[9642] | 283 | LOG << epoTimeStr << " RES " << left << setw(3)
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[9699] | 284 | << t_lc::toString(tLC) << right << ' '
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[10034] | 285 | << obs->prn().toString() << ' '
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| 286 | << setw(8) << setprecision(4) << vv[ii] << endl;
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[7237] | 287 | }
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| 288 | }
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| 289 | }
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| 290 | break;
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| 291 | }
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| 292 | }
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| 293 | return success;
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| 294 | }
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| 295 |
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| 296 | // Cycle-Slip Detection
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| 297 | ////////////////////////////////////////////////////////////////////////////
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[9642] | 298 | t_irc t_pppFilter::detectCycleSlips(const vector<t_lc::type> &LCs,
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[10034] | 299 | const vector<t_pppSatObs*> &obsVector) {
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| 300 |
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[10327] | 301 | double SLIP = 20.0;
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| 302 | double fac = 1.0;
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| 303 | if (_lastEpoTimeOK.valid()) {
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| 304 | fac = _epoTime - _lastEpoTimeOK;
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| 305 | if (fac > 60.0 || fac < 1.0) {
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| 306 | fac = 1.0;
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| 307 | }
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| 308 | }
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| 309 | SLIP *= fac;
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[9386] | 310 | string epoTimeStr = string(_epoTime);
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[10034] | 311 | const vector<t_pppParam*> ¶ms = _parlist->params();
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[7237] | 312 |
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| 313 | for (unsigned ii = 0; ii < LCs.size(); ii++) {
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[9642] | 314 | const t_lc::type &tLC = LCs[ii];
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[7237] | 315 | if (t_lc::includesPhase(tLC)) {
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| 316 | for (unsigned iObs = 0; iObs < obsVector.size(); iObs++) {
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[9642] | 317 | const t_pppSatObs *obs = obsVector[iObs];
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[7237] | 318 |
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[7267] | 319 | // Check set Slips and Jump Counters
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[7237] | 320 | // ---------------------------------
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| 321 | bool slip = false;
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[9386] | 322 |
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[7237] | 323 | if (obs->slip()) {
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[10319] | 324 | LOG << epoTimeStr << " Cycle slip set (obs) " << obs->prn().toString() << endl;
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[7237] | 325 | slip = true;
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| 326 | }
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| 327 |
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[10034] | 328 | if (_slips[obs->prn()]._obsSlipCounter != -1 &&
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| 329 | _slips[obs->prn()]._obsSlipCounter != obs->slipCounter()) {
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[10319] | 330 | LOG << epoTimeStr << " Cycle slip set (obsSlipCounter) " << obs->prn().toString() << endl;
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[7237] | 331 | slip = true;
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| 332 | }
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[10034] | 333 | _slips[obs->prn()]._obsSlipCounter = obs->slipCounter();
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| 334 |
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| 335 | if (_slips[obs->prn()]._biasJumpCounter != -1 &&
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| 336 | _slips[obs->prn()]._biasJumpCounter != obs->biasJumpCounter()) {
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[10319] | 337 | LOG << epoTimeStr << " Cycle slip set (biasJumpCounter) " << obs->prn().toString() << endl;
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[7237] | 338 | slip = true;
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| 339 | }
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[10034] | 340 | _slips[obs->prn()]._biasJumpCounter = obs->biasJumpCounter();
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| 341 |
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[7237] | 342 | // Slip Set
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[7267] | 343 | // --------
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[7237] | 344 | if (slip) {
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[10034] | 345 | resetAmb(obs->prn(), obsVector, tLC);
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[7237] | 346 | }
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[10034] | 347 |
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[10259] | 348 | // Check Pre-Fit Residuals
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[10388] | 349 | // -----------------------
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[7237] | 350 | else {
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[10034] | 351 | ColumnVector AA(params.size());
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| 352 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
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| 353 | const t_pppParam* par = params[iPar];
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| 354 | AA[iPar] = par->partial(_epoTime, obs, tLC);
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[7237] | 355 | }
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[10384] | 356 | double ll = obs->obsValue(tLC) - obs->cmpValue(tLC) - DotProduct(_x0, AA);
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[10034] | 357 | double vv = DotProduct(AA, _xFlt) - ll;
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| 358 |
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| 359 | if (fabs(vv) > SLIP) {
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| 360 | LOG << epoTimeStr << " cycle slip detected " << t_lc::toString(tLC) << ' '
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| 361 | << obs->prn().toString() << ' ' << setw(8) << setprecision(4) << vv << endl;
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| 362 | }
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[10388] | 363 | }
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[7237] | 364 | }
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| 365 | }
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| 366 | }
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| 367 | return success;
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| 368 | }
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| 369 |
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| 370 | // Reset Ambiguity Parameter (cycle slip)
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| 371 | ////////////////////////////////////////////////////////////////////////////
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[10248] | 372 | t_irc t_pppFilter::resetAmb(const t_prn prn, const vector<t_pppSatObs*> &obsVector, t_lc::type lc,
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| 373 | SymmetricMatrix *QSav, ColumnVector *xSav) {
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[8965] | 374 |
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[7237] | 375 | t_irc irc = failure;
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[10034] | 376 | vector<t_pppParam*>& params = _parlist->params();
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[7237] | 377 | for (unsigned iPar = 0; iPar < params.size(); iPar++) {
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[9642] | 378 | t_pppParam *par = params[iPar];
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[7237] | 379 | if (par->type() == t_pppParam::amb && par->prn() == prn) {
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[10249] | 380 | int ind = par->indexNew();
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| 381 | double eleSat = par->ambEleSat();
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[10156] | 382 | bncTime firstObsTime;
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| 383 | bncTime lastObsTime = par->lastObsTime();
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[10249] | 384 | (par->firstObsTime().undef()) ?
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| 385 | firstObsTime = lastObsTime : firstObsTime = par->firstObsTime();
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[7237] | 386 | t_lc::type tLC = par->tLC();
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[10184] | 387 | if (tLC != lc) {continue;}
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[7237] | 388 | LOG << string(_epoTime) << " RESET " << par->toString() << endl;
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[10034] | 389 | delete par; par = new t_pppParam(t_pppParam::amb, prn, tLC, &obsVector);
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[7237] | 390 | par->setIndex(ind);
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[10156] | 391 | par->setFirstObsTime(firstObsTime);
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| 392 | par->setLastObsTime(lastObsTime);
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[10248] | 393 | par->setAmbEleSat(eleSat);
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[7237] | 394 | params[iPar] = par;
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| 395 | for (unsigned ii = 1; ii <= params.size(); ii++) {
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[9642] | 396 | _QFlt(ii, ind + 1) = 0.0;
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[7237] | 397 | if (QSav) {
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[10250] | 398 | (*QSav)(ii, ind + 1) = 0.0;
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[7237] | 399 | }
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| 400 | }
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[9642] | 401 | _QFlt(ind + 1, ind + 1) = par->sigma0() * par->sigma0();
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[7237] | 402 | if (QSav) {
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[9642] | 403 | (*QSav)(ind + 1, ind + 1) = _QFlt(ind + 1, ind + 1);
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[7237] | 404 | }
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| 405 | _xFlt[ind] = 0.0;
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| 406 | if (xSav) {
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| 407 | (*xSav)[ind] = _xFlt[ind];
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| 408 | }
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| 409 | _x0[ind] = par->x0();
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[10256] | 410 | irc = success;
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[7237] | 411 | }
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| 412 | }
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| 413 |
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| 414 | return irc;
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| 415 | }
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| 416 |
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| 417 | // Compute various DOP Values
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| 418 | ////////////////////////////////////////////////////////////////////////////
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[10034] | 419 | void t_pppFilter::cmpDOP(const vector<t_pppSatObs*> &obsVector) {
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[7237] | 420 |
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| 421 | _dop.reset();
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| 422 |
|
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| 423 | try {
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| 424 | const unsigned numPar = 4;
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| 425 | Matrix AA(obsVector.size(), numPar);
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[10328] | 426 | t_pppParam* parX = 0;
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| 427 | t_pppParam* parY = 0;
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| 428 | t_pppParam* parZ = 0;
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[7237] | 429 | _numSat = 0;
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| 430 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[9642] | 431 | t_pppSatObs *obs = obsVector[ii];
|
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[7237] | 432 | if (obs->isValid() && !obs->outlier()) {
|
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| 433 | ++_numSat;
|
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| 434 | for (unsigned iPar = 0; iPar < numPar; iPar++) {
|
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[10328] | 435 | t_pppParam* par = _parlist->params()[iPar];
|
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[10034] | 436 | AA[_numSat - 1][iPar] = par->partial(_epoTime, obs, t_lc::c1);
|
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[10328] | 437 | if (par->type() == t_pppParam::crdX) {
|
---|
| 438 | parX = par;
|
---|
| 439 | }
|
---|
| 440 | else if (par->type() == t_pppParam::crdY) {
|
---|
| 441 | parY = par;
|
---|
| 442 | }
|
---|
| 443 | else if (par->type() == t_pppParam::crdZ) {
|
---|
| 444 | parZ = par;
|
---|
| 445 | }
|
---|
[7237] | 446 | }
|
---|
| 447 | }
|
---|
| 448 | }
|
---|
| 449 | if (_numSat < 4) {
|
---|
| 450 | return;
|
---|
| 451 | }
|
---|
| 452 | AA = AA.Rows(1, _numSat);
|
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[10034] | 453 | SymmetricMatrix NN; NN << AA.t() * AA;
|
---|
[7237] | 454 | SymmetricMatrix QQ = NN.i();
|
---|
[10328] | 455 | SymmetricMatrix QQxyz = QQ.SymSubMatrix(1,3);
|
---|
[7267] | 456 |
|
---|
[10328] | 457 | ColumnVector xyz(3), neu(3);
|
---|
| 458 | SymmetricMatrix QQneu(3);
|
---|
| 459 | const t_pppStation *sta = PPP_CLIENT->staRover();
|
---|
| 460 | xyz[0] = _xFlt[parX->indexNew()];
|
---|
| 461 | xyz[1] = _xFlt[parY->indexNew()];
|
---|
| 462 | xyz[2] = _xFlt[parZ->indexNew()];
|
---|
| 463 | xyz2neu(sta->ellApr().data(), xyz.data(), neu.data());
|
---|
| 464 | covariXYZ_NEU(QQxyz, sta->ellApr().data(), QQneu);
|
---|
| 465 |
|
---|
| 466 | _dop.H = sqrt(QQneu(1, 1) + QQneu(2, 2));
|
---|
| 467 | _dop.V = sqrt(QQneu(3, 3));
|
---|
[9642] | 468 | _dop.P = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3));
|
---|
| 469 | _dop.T = sqrt(QQ(4, 4));
|
---|
| 470 | _dop.G = sqrt(QQ(1, 1) + QQ(2, 2) + QQ(3, 3) + QQ(4, 4));
|
---|
[7237] | 471 | }
|
---|
[10034] | 472 | catch (...) {
|
---|
| 473 | }
|
---|
[7237] | 474 | }
|
---|
| 475 |
|
---|
[9526] | 476 | //
|
---|
[7237] | 477 | ////////////////////////////////////////////////////////////////////////////
|
---|
[10256] | 478 | void t_pppFilter::predictCovCrdPart(const SymmetricMatrix &QFltOld, bool setNeuNoiseToZero) {
|
---|
[7237] | 479 |
|
---|
[10034] | 480 | const vector<t_pppParam*>& params = _parlist->params();
|
---|
| 481 |
|
---|
[7237] | 482 | if (params.size() < 3) {
|
---|
| 483 | return;
|
---|
| 484 | }
|
---|
| 485 |
|
---|
| 486 | bool first = (params[0]->indexOld() < 0);
|
---|
| 487 |
|
---|
[10034] | 488 | SymmetricMatrix Qneu(3); Qneu = 0.0;
|
---|
[7237] | 489 | for (unsigned ii = 0; ii < 3; ii++) {
|
---|
[9642] | 490 | const t_pppParam *par = params[ii];
|
---|
[7237] | 491 | if (first) {
|
---|
| 492 | Qneu[ii][ii] = par->sigma0() * par->sigma0();
|
---|
[10034] | 493 | }
|
---|
| 494 | else {
|
---|
[7237] | 495 | Qneu[ii][ii] = par->noise() * par->noise();
|
---|
| 496 | }
|
---|
| 497 | }
|
---|
| 498 |
|
---|
[9642] | 499 | const t_pppStation *sta = PPP_CLIENT->staRover();
|
---|
[7237] | 500 | SymmetricMatrix Qxyz(3);
|
---|
| 501 | covariNEU_XYZ(Qneu, sta->ellApr().data(), Qxyz);
|
---|
| 502 |
|
---|
| 503 | if (first) {
|
---|
[9642] | 504 | _QFlt.SymSubMatrix(1, 3) = Qxyz;
|
---|
[10034] | 505 | }
|
---|
| 506 | else {
|
---|
[7237] | 507 | double dt = _epoTime - _firstEpoTime;
|
---|
[10010] | 508 | if (dt < OPT->_seedingTime || setNeuNoiseToZero) {
|
---|
[10256] | 509 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3);
|
---|
[10034] | 510 | }
|
---|
| 511 | else {
|
---|
[10256] | 512 | _QFlt.SymSubMatrix(1, 3) = QFltOld.SymSubMatrix(1, 3) + Qxyz;
|
---|
[7237] | 513 | }
|
---|
| 514 | }
|
---|
| 515 | }
|
---|
[8912] | 516 |
|
---|
[9526] | 517 | //
|
---|
| 518 | ////////////////////////////////////////////////////////////////////////////
|
---|
[10256] | 519 | void t_pppFilter::setStateVectorAndVarCovMatrix(const ColumnVector &xFltOld,
|
---|
| 520 | const SymmetricMatrix &QFltOld,
|
---|
| 521 | bool setNeuNoiseToZero) {
|
---|
[9526] | 522 |
|
---|
[10034] | 523 | const vector<t_pppParam*>& params = _parlist->params();
|
---|
[9526] | 524 | unsigned nPar = params.size();
|
---|
| 525 |
|
---|
[10034] | 526 | _QFlt.ReSize(nPar); _QFlt = 0.0;
|
---|
| 527 | _xFlt.ReSize(nPar); _xFlt = 0.0;
|
---|
| 528 | _x0.ReSize(nPar); _x0 = 0.0;
|
---|
[9526] | 529 |
|
---|
| 530 | for (unsigned ii = 0; ii < nPar; ii++) {
|
---|
[9642] | 531 | t_pppParam *par1 = params[ii];
|
---|
[10256] | 532 | if (QFltOld.size() == 0) {
|
---|
[9526] | 533 | par1->resetIndex();
|
---|
| 534 | }
|
---|
| 535 | _x0[ii] = par1->x0();
|
---|
| 536 | int iOld = par1->indexOld();
|
---|
| 537 | if (iOld < 0) {
|
---|
| 538 | _QFlt[ii][ii] = par1->sigma0() * par1->sigma0(); // new parameter
|
---|
[9642] | 539 | } else {
|
---|
[10256] | 540 | _QFlt[ii][ii] = QFltOld[iOld][iOld] + par1->noise() * par1->noise();
|
---|
| 541 | _xFlt[ii] = xFltOld[iOld];
|
---|
[9526] | 542 | for (unsigned jj = 0; jj < ii; jj++) {
|
---|
[9642] | 543 | t_pppParam *par2 = params[jj];
|
---|
| 544 | int jOld = par2->indexOld();
|
---|
[9526] | 545 | if (jOld >= 0) {
|
---|
[10256] | 546 | _QFlt[ii][jj] = QFltOld(iOld + 1, jOld + 1);
|
---|
[9526] | 547 | }
|
---|
| 548 | }
|
---|
| 549 | }
|
---|
| 550 | }
|
---|
[10256] | 551 | predictCovCrdPart(QFltOld, setNeuNoiseToZero);
|
---|
[9526] | 552 | }
|
---|